/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "fdcan.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "PID.h"
#include "get_adc.h"
#include "bridge_control.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
  power bridge_data;
  pid_t current_pid;
  pid_t power_pid;
  float set_current=1;
  float set_power=45 ;
	float p=0;
  float PWM=1000;
  uint16_t temp[40];
	uint16_t temp0[10];
	uint8_t temp1[1];
	int ad1=0;
	int ad2=0;
	int ad3=0;
	int ad4=0;
	int mode0=0;
	int k1=1,tick=0;
	uint8_t data[8];
  uint8_t data0[8];
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void PeriphCommonClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

/* Configure the peripherals common clocks */
  PeriphCommonClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART1_UART_Init();
  MX_FDCAN1_Init();
  MX_ADC2_Init();
  /* USER CODE BEGIN 2 */
	canfd_filter(&hfdcan1);
	HAL_ADC_Start_DMA(&hadc1,temp,40);
	HAL_ADC_Start_DMA(&hadc2,temp0,10);
	pid_struct_init(&power_pid,10,-20,10,-20,0.3,0.05,0);
	pid_struct_init(&current_pid,450,150,450,-450,5,0.1,0);
	HAL_TIM_Base_Start_IT(&htim2);
	HAL_TIM_Base_Start_IT(&htim3);
	HAL_TIM_Base_Start_IT(&htim4);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
  /** Macro to configure the PLL clock source
  */
  __HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 80;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 8;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief Peripherals Common Clock Configuration
  * @retval None
  */
void PeriphCommonClock_Config(void)
{
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};

  /** Initializes the peripherals clock
  */
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInitStruct.PLL2.PLL2M = 1;
  PeriphClkInitStruct.PLL2.PLL2N = 18;
  PeriphClkInitStruct.PLL2.PLL2P = 3;
  PeriphClkInitStruct.PLL2.PLL2Q = 2;
  PeriphClkInitStruct.PLL2.PLL2R = 2;
  PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3;
  PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE;
  PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
  PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)  //it func
{
	if(htim->Instance == TIM2)//50us
  {  
    if(tick<15){
			 get_4_adc(temp,&bridge_data);
		 	 PWM=1000.0*bridge_data.battery_voltage/(bridge_data.cap_voltage+bridge_data.battery_voltage);
		}
		while(k1%20==0){
			get_chassis_adc(temp0,&bridge_data);
		  data[2]=(int)bridge_data.chassis_power*100>>8;
		  data[3]=bridge_data.chassis_power*100;
	    data[0]=(int)(0.5*8.75*bridge_data.cap_voltage*bridge_data.cap_voltage)>>8;
		  data[1]=(int)(0.5*8.75*bridge_data.cap_voltage*bridge_data.cap_voltage);
   		HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1,&TxHeader,data);
		  k1=1;
		}
		k1++;
	}
  if(htim->Instance == TIM3)//20us 
  {
		if((tick>=15)&&(key%2==0)){
			bridge_open();
      get_4_adc(temp,&bridge_data);
      pid_calculate(&power_pid,bridge_data.battery_power,set_power);
		  pid_calculate(&current_pid,bridge_data.cap_current,power_pid.out);
		  if((1000-(int)current_pid.out)<=(int)(PWM+15)||mode0==1){
        	set_pwm(1000-(int)current_pid.out);
		    	p+=bridge_data.battery_power*0.00002;
		    	mode0=1;
				}
      HAL_GPIO_WritePin(GPIOC,GPIO_PIN_0,GPIO_PIN_RESET);
		}
		else{
			 set_pwm(PWM);
		   HAL_GPIO_WritePin(GPIOC,GPIO_PIN_0,GPIO_PIN_SET);
		   bridge_close();
		   mode0=0;
		}
	}
	if(htim->Instance == TIM4)//0.1s
  {
			if(tick<15){
			tick++;
			}
		  get_chassis_adc(temp0,&bridge_data);
			temp1[0]=(int)bridge_data.battery_power;
		  HAL_UART_Transmit(&huart1, (uint8_t *)temp1, 1, 0xffff);
	}
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
